The growing need for assistive and rehabilitative robots requires more understanding of interactions between the human and such robots. RoboWalk is one of such robotic assistive devices to help users in walking. One o...
The growing need for assistive and rehabilitative robots requires more understanding of interactions between the human and such robots. RoboWalk is one of such robotic assistive devices to help users in walking. One of the challenges in using RoboWalk is the horizontal component which undesirably appears besides the desirable assistive vertical force for weight compensation. This horizontal component can disrupt the user’s gait and cause discomfort and stability disturbances. This is due to the fact that the current design of RoboWalk does not allow for any displacement due to the singularity of the robot’s inverse kinematics. This paper proposes a few solutions to solve this problem in redesigning the motion mechanism. Analyses using Adams software show the effects of each solution on enhancing RoboWalk’s functionality. Obtained results reveal that the proposed solutions are feasible and have the potential to significantly improve the user experience.
Ornithopter’s research can be categorized into two parts. First, aerodynamics analysis of the flying robot including designing the body and choosing the robot’s material based on the analysis. Second, design and ana...
Ornithopter’s research can be categorized into two parts. First, aerodynamics analysis of the flying robot including designing the body and choosing the robot’s material based on the analysis. Second, design and analysis of the mechanism which makes the wings move. So far, most of the researches has been focused on the first subject, i. e., aerodynamics analysis; even some books were published on this topic. However, there is little research about the mechanisms while most of the previous works are based on the patterns verified before. This paper will propose the design of a new spatial mechanism. Besides, three common planar mechanisms will be modeled and simulated to analyze and compare to the proposed mechanism in terms of aerodynamics forces for one wing beat cycle. These results reveal that the proposed 3D mechanism works more promising than others.
Based on fractional calculus theory and reaction-diffusion equation theory,a fractional-order time-delay reaction-diffusion neural network with Neumann boundary conditions is *** constructing the phase space basis bas...
Based on fractional calculus theory and reaction-diffusion equation theory,a fractional-order time-delay reaction-diffusion neural network with Neumann boundary conditions is *** constructing the phase space basis based on the Laplace operator eigenvector,the system equation is linearized to obtain the characteristic ***,the characteristic equation is analyzed,and the local stability of the system at the equilibrium point is *** taking the time delay as the bifurcation parameter,the stability changes of the system at the equilibrium point and the generation conditions of the Hopf bifurcation are studied when the time delay ***,a state feedback controller is designed to control the bifurcation of the ***,the theoretical derivation is verified by numerical simulation.
In this research, the issue of trajectory tracking in task space of a robotic arm with rotational joints has been solved. For this purpose, a non-model based controller the modified jacobian-transpose is used which it...
In this research, the issue of trajectory tracking in task space of a robotic arm with rotational joints has been solved. For this purpose, a non-model based controller the modified jacobian-transpose is used which it’s performance has been improved by reinforcement learning. Traditionally, the settings of the error thresholds for this controller will require trial and error, but in this algorithm, reinforcement learning is used to adjust these parameters online and according to the conditions. The simulations for the desired trajectory indicate that the improvement of the trajectory tracking achieved by using proposed algorithm. Also, the superiority of this controller in noisy conditions compared to the reference Jacobian transpose controller has been shown.
In this paper, a novel smooth magnetron is introduced to construct a fractional memristor Hopfield neural network(fractional order M-HNN). The local stability of equilibrium point are analyzed theoretically. Taking th...
In this paper, a novel smooth magnetron is introduced to construct a fractional memristor Hopfield neural network(fractional order M-HNN). The local stability of equilibrium point are analyzed theoretically. Taking the memristor coupling strength coefficient and the fractional order as bifurcation parameters, the phase trajectory diagram, the bifurcation diagram of the system are drawn to analyze the influence on the dynamic behavior of the neural network. When the system parameters are fixed, the hyperchaos phenomenon of the fractional order M-HNN model is revealed. Finally, the PD controller is applied to the model to enhance the stability of the system.
An important issue in model-based control design is that an accurate dynamic model of the system is generally nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian ...
详细信息
The issue of cost-sharing has been familiar since ancient times. Even today, it is used in various situations, such as cost-sharing for infrastructure development and contributions to neighborhood associations. Many m...
The issue of cost-sharing has been familiar since ancient times. Even today, it is used in various situations, such as cost-sharing for infrastructure development and contributions to neighborhood associations. Many methods have been proposed for the cost-sharing problem. One typical solution is the Shapley value. However, there are cases where the best solution cannot be obtained. In addition, if the solution is disadvantageous to the parties, there is a risk of dissatisfaction and failure to reach an agreement. On the other hand, gaming solutions are attracting attention. A mutually satisfactory solution can be obtained by gaming by solving the cost-sharing problem between the parties. Furthermore, better solutions than other methods have been derived. In this paper, we report on the optimal solution derived from the gaming results, its educational effects, and the results of a webinar on gaming in Finland and Japan.
This paper investigates design of a nested saturated feedback control for an electro-hydrodynamic jet (E-jet) printer. The closed-loop control of this system is vital due to high dependency of product quality on the v...
详细信息
Underwater robotic operation usually requires visual perception(e.g.,object detection and tracking),but underwater scenes have poor visual quality and represent a special domain which can affect the accuracy of visual...
详细信息
Underwater robotic operation usually requires visual perception(e.g.,object detection and tracking),but underwater scenes have poor visual quality and represent a special domain which can affect the accuracy of visual *** addition,detection continuity and stability are important for robotic perception,but the commonly used static accuracy based evaluation(i.e.,average precision)is insufficient to reflect detector performance across *** response to these two problems,we present a design for a novel robotic visual perception ***,we generally investigate the relationship between a quality-diverse data domain and visual restoration in detection *** a result,although domain quality has an ignorable effect on within-domain detection accuracy,visual restoration is beneficial to detection in real sea scenarios by reducing the domain ***,non-reference assessments are proposed for detection continuity and stability based on object ***,online tracklet refinement is developed to improve the temporal performance of ***,combined with visual restoration,an accurate and stable underwater robotic visual perception framework is ***-overlap suppression is proposed to extend video object detection(VID)methods to a single-object tracking task,leading to the flexibility to switch between detection and *** experiments were conducted on the ImageNet VID dataset and real-world robotic tasks to verify the correctness of our analysis and the superiority of our proposed *** codes are available at https://***/yrqs/VisPerception.
Estimation of relevant lung parameters and the breathing effort of a ventilated patient is essential to keep track of the patient's clinical condition. The aim of this paper is to investigate the major challenges ...
详细信息
Estimation of relevant lung parameters and the breathing effort of a ventilated patient is essential to keep track of the patient's clinical condition. The aim of this paper is to investigate the major challenges of estimating the patient's condition with parametric models. The main method is a linear regression framework, where identifiability and persistence of excitation aspects are clearly unraveled. Different approaches for improving estimation accuracy are outlined. As an illustration, one of the solution strategies is implemented, which leads to accurate estimates of the breathing effort and relevant lung parameters.
暂无评论